CN115273591A - Training system and method for quantifying interventional operation behaviors - Google Patents
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Abstract
The invention provides a training system and a method for quantifying interventional operation behaviors, wherein the training system comprises a driving device, a blood pump and a blood pump, wherein the driving device regulates and controls the blood pump to simulate the hemodynamic states under different physiological states; the multi-vessel model module is used for providing different personalized focus vessel models and related fluid dynamic environments for interventional operation training; the image acquisition module is used for providing real-time operation display under binocular vision and recording the implantation process of the instrument; the mechanical information acquisition module is used for acquiring the force applied to the interventional instrument by the operation of an operator and the force applied to the blood vessel model by the interventional instrument; the multivariate information processing module is used for evaluating the intervention operation of an operator in real time. The invention can simulate the environment of interventional operation, combines machine vision and multi-physical sensor quantification interventional operation behavior, and determines the defects of operation details by comparing with the operation data of an expert group in the system, thereby better improving the operation training effect.
Description
Technical Field
The invention relates to the medical field of interventional operation training, in particular to a training system and a method capable of quantifying interventional operation behaviors.
Background
With the blood vessel diseases becoming the first diseases threatening the physical and mental health of human beings, interventional surgery is becoming one of the main treatment methods for treating blood vessel diseases, and an interventional instrument is delivered to a target focus position by utilizing a minimally invasive method on the basis of the medical imaging technology. The interventional operation has the advantages of small wound, quick postoperative recovery and the like. For young physicians, extensive surgical training is required to formally enter clinical surgery. The operation training device can well provide an operation training environment.
However, the operation of the interventional operation lacks a three-dimensional visual field, the spatial position of the interventional instrument cannot be acquired, the operation depends on the experience of doctors, and the learning period of the doctors is long. Further, the doctor can intuitively have various information such as (hand motion information such as rotation, pushing, and pulling) and instrument kinematics during the operation. Therefore, the quantification of the operation behavior and experience of the operator in the operation execution has important significance in the evaluation of the operation behavior and the operation training.
Disclosure of Invention
The invention aims to quantify the operation behavior of an operator in interventional operation execution, and provides a training system and a method for quantifying the operation behavior of the interventional operation.
The technical scheme of the invention is as follows:
a training system for quantifying interventional operation behaviors comprises a driving device, a multi-blood-vessel model module and an adjustable light source which are arranged in a camera shooting box; the device also comprises an image acquisition module, a mechanical information acquisition module and a multi-element information processing module;
the driving device comprises a driver and a blood pump, and the driving device finishes the regulation and control of the blood pump based on PLC control or other control principles so as to simulate the hemodynamic states under different physiological states; the blood pump is used for providing a continuous fluid environment in the blood vessel model;
the multi-blood-vessel model module comprises a multi-blood-vessel model and a liquid storage tank, wherein the blood-vessel model and the liquid storage tank are connected into a loop through a pipeline, a constant temperature device is arranged outside the liquid storage tank, and a blood-like solution is contained in the liquid storage tank; the multi-vessel model module has the functions of providing different personalized focus vessel models and related fluid dynamics environments for interventional operation training;
the pipeline is responsible for connecting each branch of the multi-vessel model and the liquid storage tank, and the number of the pipelines can be adjusted according to the specific multi-vessel model and the application scene and is not limited by the implementation case in the patent;
the liquid storage tank can store blood-like solution required by the interventional operation training system; the blood-like solution adopts a mixed solution of distilled water and glycerol to approximate the physical properties of real blood.
The constant temperature module is used for maintaining the temperature of liquid in the multi-blood vessel model and the pipeline to be close to the normal body temperature of a human body at 35-37 ℃;
the function of the multi-vessel model is to provide lesion vessel models for different interventional operations;
the multi-vessel model is based on silica gel soft materials, utilizes a 3D printing technology to construct a focus vessel model with a disease specific structure, can be used as a target vessel of any interventional operation, and is used for interventional operation training. In addition, a supporting frame with the curvature fitting the outer contour of the blood vessel model can be arranged under the multi-blood-vessel model so as to avoid extra shaking during operation. The model is provided with a replaceable joint which can be matched with a clinical intervention sheath tube for use.
The adjustable light source is used for providing the brightness requirement required during interventional operation training;
the reflecting coating laid in the camera box can reduce the reflecting effect of the blood vessel model and improve the imaging quality.
The image acquisition module comprises a CCD industrial camera, a display and an image acquisition end which are sequentially connected and is used for providing real-time operation display under binocular vision and recording the implantation process of the instrument;
the CCD industrial camera is used for shooting the position data of the interventional instrument at two angles in real time; the display can display an operation picture in real time, an intraoperative DSA image interface is simulated through an image processing algorithm, and the image acquisition end can store acquired images in real time;
the mechanical information acquisition module comprises a near-end force acquisition device and a far-end force acquisition device, and the near-end force acquisition device and the far-end force acquisition device are both connected with the data acquisition end; the mechanical information acquisition module is used for acquiring the force applied to the interventional instrument by the operation of an operator and the force applied to the blood vessel model by the interventional instrument; and the data acquisition end can simultaneously acquire the mechanical information of the near end and the far end and display the mechanical information on the front end interface in real time.
The near-end force acquisition device comprises an operation end, four three-degree-of-freedom sensors and a middle catheter regulator. The three-degree-of-freedom sensor and the operation end can acquire pushing, pulling, screwing and other actions applied to the instrument by an operator. The operating end is provided with an intermediate catheter adjuster which can be adapted to interventional instruments with different diameters so as to adapt to the interventional instruments with different sizes; the near-end force acquisition device is also provided with an operation arm electromyogram signal acquisition device which can acquire muscle and hand movement signals when a doctor operates, and the same data signals can be stored in a control end computer in real time. The electromyographic signal acquisition device comprises a signal acquisition electrode, a transmission cable and a data acquisition card, and can acquire and store action signals of an operator in real time during surgical training.
The far-end force acquisition device is used for acquiring contact force between an instrument and a blood vessel model in an interventional process, and meanwhile, the signal shielding device can reduce the influence of the environment on data acquisition. The far-end force acquisition device comprises a supporting plate, a six-axis force sensor and a signal shielding device.
The multivariate information processing module is used for evaluating the intervention operation of an operator in real time and comparing the intervention operation with the gold standard operation results of a plurality of experts in the system, so that the operation of the intervention operator is qualitatively and quantitatively analyzed, and rating opinions are given according to different operation key points.
The data processing flow of the data multivariate information processing module is that the kinematics, mechanics, muscle signals and the like of the operator are acquired through the signal acquisition device, and the operation evaluation result can be fed back to the operator in real time through feature extraction, classified screening and quantitative evaluation of the multivariate information processing module so as to better improve the operation skill of the operation. The multivariate information processing module integrates an image processing algorithm, data classification identification and an evaluation algorithm.
Specifically, the multivariate information processing module can compare and evaluate the data of the operator and the expert group data in real time, so that the operation behavior of the operator is quantized, and the improvement of the operation training effect is facilitated. The processing module integrates an image processing algorithm, a data classification identification algorithm and an evaluation algorithm. The image processing algorithm comprises feature extraction and recognition to obtain image kinematics information, data classification adopts a support vector machine and a Gaussian mixture model to perform data processing, and assessment is performed on operation based on Mahalanobis distance to perform quantitative scoring.
The invention also provides a training method for quantifying the operation behavior of the interventional operation, the training system for quantifying the operation behavior of the interventional operation is utilized, the multi-information processing module stores the expert-level operation data of different interventional operation rooms, and the processing module integrates an image processing algorithm, a data classification identification algorithm and an evaluation algorithm; the image processing algorithm comprises feature extraction, identification to obtain image kinematic information, data classification, data processing by adopting a support vector machine and a Gaussian mixture model, and evaluation of quantitative scoring of operation based on Mahalanobis distance;
classifying, identifying and counting the image information, the kinematic information and the mechanical information which are related during the operation of an operator; the evaluation scoring is carried out by comparing and analyzing the gold standard data with the gold standard data of different expert operations obtained in the system, so that the specific scoring details of each operation of an operator are quantized, and modification opinions are given according to specific operation indexes.
The technical scheme of the invention at least has the following beneficial effects:
the training system for quantifying the operation behaviors of the interventional operation, provided by the invention, can simulate the environment of the interventional operation, combines machine vision and the behavior of the multiple physical sensors quantifying the interventional operation, and determines the defects of operation details by comparing the operation data with the operation data of an expert group in the system, so that the operation training effect is better improved, and the operation skills of the interventional operation are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a training system for quantifying interventional procedure performance in accordance with the present invention;
FIG. 2 is a schematic view of the proximal force collection assembly 8 of the present invention;
FIG. 3 is a schematic view of a muscle signal acquisition device according to the present invention;
FIG. 4 is a schematic view of the distal force collection assembly 9 of the present invention;
FIG. 5 is a block diagram of the data meta-information processing module 12 and the data processing flow of the present invention;
FIG. 1-drive; 2-CCD industrial camera; 3-a light source; 4-a multiple vessel model; 5-pipeline; 6-liquid storage tank and thermostatic device; 7-camera chamber; 8-a proximal force acquisition device; 9-a distal force acquisition device; 10-data acquisition end; 11-an image acquisition end; 12-a multivariate information processing module; 13-display.
Detailed Description
In order to make the technical aspects of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Referring to fig. 1, a training system for quantifying interventional operation behaviors is characterized by comprising a driving device 1, a multi-vessel model module and an adjustable light source 3 which are arranged in a camera box 7; the system also comprises an image acquisition module, a mechanical information acquisition module and a multi-element information processing module 12;
the driving device 1 comprises a driver and a blood pump, and the driving device 1 finishes the regulation and control of the blood pump based on PLC control or other control principles so as to simulate the hemodynamic states under different physiological states; the blood pump is used for providing a continuous fluid environment in the blood vessel model;
the multi-blood-vessel model module comprises a multi-blood-vessel model 4 and a liquid storage tank 6, wherein the blood-vessel model 4 and the liquid storage tank 6 are connected into a loop through a pipeline 5, a constant temperature device is arranged outside the liquid storage tank 6, and a blood-like solution is arranged in the liquid storage tank 6; the multi-vessel model module has the functions of providing different personalized focus vessel models and related fluid dynamics environments for interventional operation training;
the pipeline 5 is responsible for connecting each branch of the multi-vessel model 4 and the liquid storage tank 6, and the number of the pipelines 5 can be adjusted according to the specific multi-vessel model 4 and the application scene, and is not limited by the implementation case in the patent;
the liquid storage box 6 can store blood-like solution required in the interventional operation training system; the blood-like solution is mixed solution of distilled water and glycerol, and has density of 1050kg/m3Viscosity was 4.1cP to approximate the physical properties of real blood.
The constant temperature module is used for maintaining the temperature of liquid in the multi-blood-vessel model 4, the pipeline 5 and the liquid storage tank 6 to be close to the normal body temperature of a human body at 35-37 ℃, and is arranged in the liquid storage tank to detect the temperature of blood-like solution in the system in real time;
the multi-vessel model 4 is used for providing lesion vessel models of different interventional operations, and the model manufacturing material is transparent silica gel or transparent rubber;
the multiple blood vessel model 4 is based on a soft silica gel material or transparent rubber, and a focus blood vessel model with a disease specific structure is constructed by utilizing a 3D printing technology. The model reconstruction data is derived from patient angiography (CTA) or Magnetic Resonance Imaging (MRI) data, can be used as a target vessel of any interventional operation, and is used for training of the interventional operation. In addition, a support frame with the curvature fitting the outer contour of the blood vessel model can be arranged under the multi-blood-vessel model 4 so as to avoid extra shaking during operation. The model is provided with a replaceable joint which can be matched with a clinical intervention sheath tube for use.
The adjustable light source 3 is used for providing the brightness requirement required during interventional operation training;
the adjustable light source 3 has the effects of providing different brightness according to the visual field requirement, and the reflection coating laid in the camera box 7 can reduce the reflection effect of the blood vessel model and improve the imaging quality.
The image acquisition module comprises a CCD industrial camera 2, a display 13 and an image acquisition end 11 which are sequentially connected and is used for providing real-time operation display under binocular vision and recording the implantation process of the instrument;
the CCD industrial camera 2 is used for shooting the position data of the interventional instrument at two angles in real time; the display 13 can display an operation picture in real time, and simulate an intraoperative DSA image interface through an image processing algorithm, and the image acquisition end 11 can store acquired images in real time;
the mechanical information acquisition module is used for acquiring the force applied to the interventional instrument by the operation of an operator and the force applied to the blood vessel model by the interventional instrument; the mechanical information acquisition module comprises a near-end force acquisition device 8 and a far-end force acquisition device 9, and the near-end force acquisition device 8 and the far-end force acquisition device 9 are both connected with a data acquisition end 10; the data acquisition end 10 can simultaneously acquire the mechanical information of the near end and the far end and display the mechanical information on the front end interface in real time.
Referring to fig. 2, proximal force acquisition device 8 includes an operative end 801, four three-degree-of-freedom sensors (802-805), and an intermediate catheter regulator 806. The three-degree-of-freedom sensor and the operating end can acquire pushing, pulling, screwing and other actions applied to the instrument by an operator. An intermediate catheter adjuster 806 capable of adapting to interventional instruments with different diameters is mounted on the operating end 801 to adapt to interventional instruments with different sizes; the near-end force acquisition device 8 is also provided with an operation arm electromyographic signal acquisition device which can acquire muscle and hand movement signals when a doctor operates, and the same data signals can be stored in a control end computer in real time.
Referring to fig. 3, the electromyographic signal acquisition device includes a signal acquisition electrode 811, a transmission cable 812 and a data acquisition card 810, and can acquire and store in real time an action signal of an operator during surgical training.
Referring to fig. 4, the distal force acquisition device 9 comprises a support plate 901, a six-axis force sensor 902, a signal shield 903. The far-end force acquisition device 9 is used for acquiring contact force between an instrument and a blood vessel model in an interventional process, and meanwhile, the signal shielding device can reduce the influence of the environment on data acquisition.
Referring to fig. 5, the multivariate information processing module 12 is used for evaluating the intervention operation of the operator in real time, comparing the result with the gold standard operation result of a plurality of experts in the system, thereby qualitatively and quantitatively analyzing the operation of the intervention operator and giving rating opinions according to different operation points.
The data processing flow of the data multi-information processing module 12 is to acquire kinematics, mechanics, muscle signals and the like of the operator through a signal acquisition device, and the operation evaluation result can be fed back to the operator in real time through feature extraction, classified screening and quantitative evaluation of the multi-information processing module 12 so as to better improve the operation skill of the operation. The multivariate information processing module 12 integrates image processing algorithms, data classification recognition, and evaluation algorithms.
The training method is that the multi-information processing module 12 stores expert-level operation data of different operating rooms, such as aorta intervention, coronary intervention, intracranial intervention, etc., but not limited to the above operations. The processing module integrates an image processing algorithm, a data classification identification algorithm and an evaluation algorithm. The image processing algorithm comprises feature extraction and identification to obtain image kinematic information, data classification adopts a support vector machine and a Gaussian mixture model to perform data processing, evaluation is performed on operation based on Mahalanobis distance to perform quantitative scoring, and the support vector machine and the Gaussian mixture model can perform feature classification on different physical quantities; mahalanobis distance is characterized by the fact that the analysis can be performed regardless of the dimension of the data. The image information, the kinematic information and the mechanical information related to the operation of the operator can be classified, identified and counted. The operation gold standard data of different experts acquired in the system are compared and analyzed, evaluation and scoring are carried out, so that specific scoring details of each operation of an operator are quantized, modification opinions are given according to specific operation indexes, the operator can know the defects of the operation of the operator, and the skill of the interventional operation is improved better.
Claims (8)
1. A training system for quantifying interventional operation behaviors is characterized by comprising a driving device (1), a multi-vessel model module (4) and an adjustable light source (3) which are arranged in a camera box (7); the device also comprises an image acquisition module, a mechanical information acquisition module and a multi-element information processing module (12);
the driving device (1) comprises a driver and a blood pump, and the driving device (1) is used for regulating and controlling the blood pump so as to simulate the hemodynamic states under different physiological states; the blood pump is used for providing a continuous fluid environment in the blood vessel model;
the multi-vessel model module is used for providing different personalized focus vessel models and related fluid dynamics environments for interventional operation training;
the adjustable light source (3) is used for providing the brightness requirement required during interventional operation training;
the image acquisition module is used for providing real-time operation display under binocular vision and recording the implantation process of the instrument;
the mechanical information acquisition module is used for acquiring the force applied to the interventional instrument by the operation of an operator and the force applied to the blood vessel model by the interventional instrument;
the multivariate information processing module (12) is used for evaluating the intervention operation of an operator in real time and comparing the intervention operation with the gold standard operation results of a plurality of experts in the system, thereby qualitatively and quantitatively analyzing the operation of the intervention operator and giving rating opinions according to different operation points.
2. The training system for quantifying the operation behavior of the interventional surgery as defined in claim 1, wherein the multiple blood vessel model module comprises a multiple blood vessel model (4) and a liquid storage tank (6), the blood vessel model (4) and the liquid storage tank (6) are connected into a loop through a pipeline (5), a constant temperature device is arranged outside the liquid storage tank (6), and a blood-like solution is arranged in the liquid storage tank (6).
3. Training system for quantifying the behavior of interventional procedures according to claim 1, characterized in that the camera chamber (7) is internally coated with a reflective coating.
4. A training system for quantifying the behavior of interventional operations according to claim 1, characterized in that said image acquisition module comprises a CCD industrial camera (2), a display (13) and an image acquisition end (11) connected in sequence;
the CCD industrial camera (2) is used for shooting the position data of the interventional instrument at two angles in real time; the display (13) displays an operation picture in real time, an intraoperative DSA image interface is simulated through an image processing algorithm, and the image acquisition end (11) stores acquired images in real time.
5. The training system for quantifying the operation behavior of the interventional operation as defined in claim 1, wherein the mechanical information acquisition module comprises a proximal force acquisition device (8) and a distal force acquisition device (9), and the proximal force acquisition device (8) and the distal force acquisition device (9) are both connected with the data acquisition end (10); and the data acquisition end (10) acquires the mechanical information obtained by the near-end force acquisition device (8) and the far-end force acquisition device (9) at the same time, and displays the mechanical information on a front-end interface in real time.
6. A training system for quantifying interventional procedure activities according to claim 5, wherein the proximal force collection device (8) comprises an operation end (801), four three-degree-of-freedom sensors; an intermediate catheter adjuster (806) which can be adapted to interventional instruments with different diameters is arranged on the operating end (801); the near-end force acquisition device (8) is also provided with an operation arm myoelectric signal acquisition device for acquiring muscle and hand movement signals when a doctor operates;
the electromyographic signal acquisition device comprises a signal acquisition electrode (811), a transmission cable (812) and a data acquisition card (810), and is used for acquiring and storing action signals of an operator in real time during surgical training.
7. The training system for quantifying the behavior of an interventional procedure according to claim 1, wherein the distal force acquisition device (9) is used for acquiring the contact force between an instrument and a vessel model during the interventional procedure; the far-end force acquisition device (9) comprises a support plate (901), a six-axis force sensor (902) and a signal shielding device (903).
8. A training method for quantifying interventional operation behaviors, which is characterized in that by using the training system for quantifying interventional operation behaviors as claimed in any one of claims 1 to 7, expert-level operation data of different interventional operation rooms are stored in a multivariate information processing module (12), and the processing module integrates an image processing algorithm, a data classification recognition algorithm and an evaluation algorithm; the image processing algorithm comprises feature extraction, identification to obtain image kinematic information, data classification, data processing by adopting a support vector machine and a Gaussian mixture model, and evaluation of quantitative scoring of operation based on Mahalanobis distance;
classifying, identifying and counting image information, kinematic information and mechanical information related to the operation of an operator; the evaluation scoring is carried out by comparing and analyzing the gold standard data with the gold standard data of different expert operations obtained in the system, so that the specific scoring details of each operation of an operator are quantized, and modification opinions are given according to specific operation indexes.
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| WO2021259627A1 (en) * | 2020-06-24 | 2021-12-30 | Technische Universität Hamburg | Medical training model having at least one blood vessel model |
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| US20050142525A1 (en) * | 2003-03-10 | 2005-06-30 | Stephane Cotin | Surgical training system for laparoscopic procedures |
| CN105096716A (en) * | 2015-09-01 | 2015-11-25 | 深圳先进技术研究院 | System for simulating endovascular intervention operation |
| CN108665759A (en) * | 2018-05-07 | 2018-10-16 | 上海斐旭电子设备有限公司 | A kind of blood vessel intervention operation simulated training system realization process |
| WO2021259627A1 (en) * | 2020-06-24 | 2021-12-30 | Technische Universität Hamburg | Medical training model having at least one blood vessel model |
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